CN110420421A - A kind of cable passage inspection firefighting robot - Google Patents
A kind of cable passage inspection firefighting robot Download PDFInfo
- Publication number
- CN110420421A CN110420421A CN201910628163.7A CN201910628163A CN110420421A CN 110420421 A CN110420421 A CN 110420421A CN 201910628163 A CN201910628163 A CN 201910628163A CN 110420421 A CN110420421 A CN 110420421A
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- China
- Prior art keywords
- module
- central control
- mechanical arm
- drive module
- forearm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000007689 inspection Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 19
- 239000000126 substance Substances 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 15
- 210000000245 forearm Anatomy 0.000 claims description 29
- 238000000034 method Methods 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000007480 spreading Effects 0.000 description 3
- 241000233855 Orchidaceae Species 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/02—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
Abstract
The invention discloses a kind of cable passage inspection firefighting robots, including guide rail, central control cabinet and extinguishing chemical case, extinguishing chemical is equipped in extinguishing chemical case, central control cabinet connects a mechanical arm, the end of mechanical arm is equipped with camera, infrared 3D imager and nozzle, extinguishing chemical case connects a flexible duct by electromagnetic valve, flexible duct is connected to nozzle, mechanical arm drive module is equipped in central control cabinet, wireless communication module, image processing module for being handled camera and the infrared collected data of 3D imager, valve drive module for the opening and closing of drive magnetic valve door, central control unit, walking mechanism for moving along the rail robot and the hoofing part module for driving walking mechanism, the data and/or wireless communication module that central control unit is used to be sent according to image processing module are sent Data mechanical arm drive module, valve drive module and hoofing part module are controlled, fire behavior can be extinguished rapidly when the intensity of a fire is little.
Description
Technical field
The present invention relates to suspension type robots, more particularly to a kind of cable passage inspection firefighting robot.
Background technique
Substation generally can exist in cable duct and largely for example control by a large amount of cable layings in the cable duct of underground at present
System, communication pipeline etc. have the route of decisive role to the normal operation of substation equipment.It is generally fixed in the top of cable duct
Point setting cable shaft, requires, the work for needing a large amount of operation maintenance personnels to be gone on patrol, overhauled according to the O&M of electricity substation, but
Staff needs to pierce in cable duct from cable shaft when being maintenance, since cable duct is located underground, belongs to narrow enclosure space,
The inspection and maintenance of staff has greatly difficult.In order to reduce the working strength of operation maintenance personnel, working efficiency is improved, out
A large amount of Intelligent Mobile Robot is showed, the video monitoring system of carrying, Video transmission system can make it in cable duct
The image information of lower channel is recorded during middle movement, and the work people on ground is transferred to by wireless video transmission system
Member, greatly reduces inspection difficulty.
In recent years, in order to cope with the phenomenon of catching fire often generated in cable duct, inspection firefighting robot comes into being, but
It is that infrared thermoviewer of the inspection firefighting robot as entrained by it is only able to display 2 dimension images, cannot be exactly found and catch fire a little, again
Since its degree of intelligence is not high enough, general is directed at the highest point of temperature in the injection of extinguishing chemical, in addition the limitation of its volume
Property cannot carry a large amount of extinguishing chemical, cause often not extinguishing fire behavior rapidly when the intensity of a fire is little and fire spreading is caused to burn
Route causes extreme loss to power grid.
Summary of the invention
Goal of the invention: the object of the present invention is to provide a kind of cable passage inspection firefighting robots, can be little in the intensity of a fire
When extinguish fire behavior rapidly, to prevent fire spreading from burning route.
Technical solution: to reach this purpose, the invention adopts the following technical scheme:
Cable passage inspection firefighting robot of the present invention, including guide rail, central control cabinet and extinguishing chemical case, fire extinguishing
Be equipped with extinguishing chemical in agent case, central control cabinet connects a mechanical arm, the end of mechanical arm be equipped with camera, infrared 3D imager and
Nozzle, extinguishing chemical case connect a flexible duct by electromagnetic valve, and flexible duct is connected to nozzle, and machine is equipped in central control cabinet
Tool arm drive module, wireless communication module, the figure for being handled camera and the infrared collected data of 3D imager
As processing module, for drive magnetic valve door be opened and closed valve drive module, central control unit, for making Robot guide rail
The walking mechanism of movement and hoofing part module for driving walking mechanism, central control unit are used for according to image procossing
The data that the data and/or wireless communication module that module is sent are sent are to mechanical arm drive module, valve drive module and walking
Drive module is controlled.
Further, the walking mechanism includes wheel and the motor for driving wheel movement, the hoofing part module
Including the motor drive module for driving motor.
Further, the cross sectional shape of the guide rail is I-shaped, and guide rail includes parallel top and bottom, top and bottom
Between be equipped with perpendicular to top surface side wall, the wheel and motor it is each there are two, two wheels are respectively arranged on the two sides of side wall, electricity
Machine and wheel correspond.
Further, the end of the mechanical arm connects a flange, and camera, infrared 3D imager and nozzle are set to flange
On.
Further, the mechanical arm includes connecting rod, and one end of connecting rod connects mechanical arm drive module, connecting rod it is another
One end connects one end of large arm upper joint, and one end of the other end connection large arm of large arm upper joint, the other end connection of large arm is greatly
One end of arm hypozygal, the other end of large arm hypozygal are fixedly connected with one end of forearm upper joint, the other end of forearm upper joint
One end of forearm, one end of the other end connection forearm hypozygal of forearm are connected, the other end of forearm hypozygal is fixedly connected with method
Orchid, wherein connecting rod and flange can transverse rotation, large arm upper joint, large arm hypozygal, forearm upper joint and forearm hypozygal
Can longitudinally it rotate.
Further, the control method of the central control unit are as follows: if central control unit receives image procossing mould
The data that block is sent, the then data sent to image processing module are handled, and carry out three dimension location to point of origin, then
Make the nozzle on mechanical arm be directed at point of origin by controlling mechanical arm drive module, then is made by control valve drive module
Electromagnetic valve is opened, to put out a fire；If central control unit receives the data of wireless communication module transmission, pass through
Control hoofing part module walking mechanism is moved, when image processing module send statistics indicate that when arrived point of origin
Then central control unit makes walking mechanism stop motion by controlling hoofing part module.
It further, further include power supply module, the power supply module is used to control to walking mechanism, hoofing part module, center
Unit processed, mechanical arm, mechanical arm drive module, electromagnetic valve, valve drive module, camera, infrared 3D imager, at image
Manage module and wireless communication module power supply.
The utility model has the advantages that the invention discloses a kind of cable passage inspection firefighting robots, compared with prior art, have such as
Under the utility model has the advantages that
1) present invention carries out Image Acquisition, and the processing for passing through central control unit by camera and infrared 3D imager
And control, point of origin can be accurately located and be directed at point of origin fire extinguishing, fire behavior can be extinguished rapidly when the intensity of a fire is little, thus
Prevent fire spreading from burning route；
2) present invention receives the data that wireless communication module is sent by central control unit, and controls to other modules
System, can be quickly moved to point of origin when point of origin is remotely located and precisely be put out a fire.
Detailed description of the invention
Fig. 1 is the perspective view of robot in the specific embodiment of the invention；
Fig. 2 is the structure chart in the specific embodiment of the invention inside central control cabinet；
Fig. 3 is the control process schematic diagram of central control unit in the specific embodiment of the invention.
Specific embodiment
Technical solution of the present invention is further introduced With reference to embodiment.
Present embodiment discloses a kind of cable passage inspection firefighting robot, as shown in Figure 1, include guide rail 11,
Central control cabinet 1 and extinguishing chemical case 2, extinguishing chemical case 2 is interior to be equipped with extinguishing chemical, and central control cabinet 1 connects a mechanical arm 3, mechanical arm 3
End be equipped with camera 5, infrared 3D imager 6 and nozzle 7, extinguishing chemical case 2 by electromagnetic valve 8 connect a flexible duct 9,
Flexible duct 9 is connected to nozzle 7, as shown in Fig. 2, being equipped with mechanical arm drive module 104, radio communication mold in central control cabinet 1
Block 109, is used for the image processing module 106 for being handled camera 5 and the collected data of infrared 3D imager 6
Drive magnetic valve door 8 be opened and closed valve drive module 110, central control unit 105, for make Robot guide rail 11 move
Walking mechanism and hoofing part module 108 for driving walking mechanism, central control unit 105 are used for according to image procossing
The data that the data and/or wireless communication module 109 that module 106 is sent are sent drive mould to mechanical arm drive module 104, valve
Block 110 and hoofing part module 108 are controlled.Image processing module 106 uses color image HSV model filter method, leads to
Overtone, saturation degree and brightness judge point of origin rather than the highest point of temperature.
As shown in Fig. 2, walking mechanism includes wheel 102 and the motor 101 for driving wheel 102 to move, hoofing part
Module 108 includes the motor drive module for driving motor 101.
As shown in Figure 1, the cross sectional shape of guide rail 11 be it is I-shaped, guide rail 11 include parallel top and bottom, top surface and
The side wall perpendicular to top surface is equipped between bottom surface, there are two wheel 102 and motor 101 are each, two wheels 102 are respectively arranged on side wall
Two sides, motor 101 and wheel 102 correspond.
As shown in Figure 1, the end of mechanical arm 3 connects a flange 4, camera 5, infrared 3D imager 6 and nozzle 7 are set to method
On orchid 4.
As shown in Figure 1, mechanical arm 3 includes connecting rod 301, one end of connecting rod 301 connects mechanical arm drive module 104,
One end of the other end connection large arm upper joint 302 of connecting rod 301, the one of the other end connection large arm 303 of large arm upper joint 302
End, one end of the other end connection large arm hypozygal 304 of large arm 303, the other end of large arm hypozygal 304 are fixedly connected on forearm
The one end in joint 305, one end of the other end connection forearm 306 of forearm upper joint 305, the other end of forearm 306 connect forearm
One end of hypozygal 307, the other end of forearm hypozygal 307 are fixedly connected with flange 4, and wherein connecting rod 301 and flange 4 can be horizontal
To rotation, large arm upper joint 302, large arm hypozygal 304, forearm upper joint 305 and forearm hypozygal 307 can longitudinally rotate.
Almost each position in front of robot can be covered in this way, described by Denavit-Hartenberg method using homogeneous transformation
The space geometry relationship of large arm 303 and forearm 306 relative to fixed reference frame, to derive end effector coordinate system
Relative to the homogeneous coordinate transformation matrix of equal value of fixed reference frame, the equation of motion of mechanical arm 3 is established.Fixed reference coordinate
System is the coordinate system established using point of origin as origin, and it is that origin is established that end effector coordinate system, which is with forearm hypozygal 307,
Coordinate system.
As shown in figure 3, the control method of central control unit 105 are as follows: if central control unit 105 receives at image
The data that module 106 is sent are managed, then the data sent to image processing module 106 are handled, and carry out three-dimensional space to point of origin
Between position, then make the nozzle 7 on mechanical arm 3 be directed at point of origin by controlling mechanical arm drive module 104, then pass through control
Valve drive module 110 opens electromagnetic valve 8, to put out a fire；If central control unit 105 receives channel radio
Believe the data that module 109 is sent, then by controlling hoofing part module 108 walking mechanism is moved, work as image processing module
106 is sending statistics indicate that then central control unit 105 is made by controlling hoofing part module 108 when arrived point of origin
Walking mechanism stop motion.
As shown in Fig. 2, robot further includes power supply module 107, power supply module 107 is used for the motor in walking mechanism
101, the motor drive module in hoofing part module 108, central control unit 105, mechanical arm 3, mechanical arm drive module
104, electromagnetic valve 8, valve drive module 110, camera 5, infrared 3D imager 6, image processing module 106 and wireless communication
Module 109 is powered.
The course of work of robot is described below.
When having fire behavior generation on the spot, robot passes through camera 5 and infrared 3D imager 6 shooting fire behavior scene photo first
Picture, and be transferred to image processing module 106 and carry out image preprocessing and color identification, then by image processing module 106
Will treated data transmission to central control unit 105, central control unit 105 controls mechanical arm drive module 104
System adjusts the position of mechanical arm 3, and mechanical arm 3 identifies objective contour while mobile, judges the position deviation of target in the picture,
The spatial attitude for correspondingly correcting mechanical arm 3 needs to solve each joint of mechanical arm with the operation of D-H method repeatedly in moving process
The spatial attitude of large arm upper joint 302, large arm hypozygal 304, forearm upper joint 305 and forearm hypozygal 307 is realized to machinery
The motion control of arm 3, after 3 pose adjustment of mechanical arm is good, 105 control valve drive module 110 of central control unit makes electromagnetism
Valve 8 is opened, to put out a fire.
When having fire behavior generation at a distance, central control unit 105 receives the data of the transmission of wireless communication module 109, control
Hoofing part module 108 moves walking mechanism, when image processing module 106 send statistics indicate that arrived point of origin
When then central control unit 105 by controlling hoofing part module 108 make walking mechanism stop motion, then center control is single
First 105 pairs of mechanical arm drive modules 104 control, and adjust the position of mechanical arm 3, and mechanical arm 3 identifies target wheel while mobile
Exterior feature judges the position deviation of target in the picture, correspondingly corrects the spatial attitude of mechanical arm 3, needs in moving process anti-
Each joint of mechanical arm large arm upper joint 302, large arm hypozygal 304, forearm upper joint 305 and small are solved with the operation of D-H method again
The spatial attitude of arm hypozygal 307 realizes the motion control to mechanical arm 3, and after 3 pose adjustment of mechanical arm is good, center control is single
First 105 control valve drive modules 110 open electromagnetic valve 8, to put out a fire.
Claims (7)
1. a kind of cable passage inspection firefighting robot, it is characterised in that: including guide rail (11), central control cabinet (1) and fire extinguishing
Agent case (2), extinguishing chemical case (2) is interior to be equipped with extinguishing chemical, and central control cabinet (1) connects a mechanical arm (3), the end of mechanical arm (3)
Equipped with camera (5), infrared 3D imager (6) and nozzle (7), extinguishing chemical case (2) connects a flexible pipe by electromagnetic valve (8)
Road (9), flexible duct (9) are connected to nozzle (7), and mechanical arm drive module (104), channel radio are equipped in central control cabinet (1)
Letter module (109), the image procossing mould for being handled camera (5) and infrared 3D imager (6) collected data
Block (106), for drive magnetic valve door (8) opening and closing valve drive module (110), central control unit (105), for making machine
The walking mechanism that device people moves along guide rail (11) and the hoofing part module (108) for driving walking mechanism, center control
The data that the data and/or wireless communication module (109) that unit (105) is used to be sent according to image processing module (106) are sent
Mechanical arm drive module (104), valve drive module (110) and hoofing part module (108) are controlled.
2. cable passage inspection firefighting robot according to claim 1, it is characterised in that: the walking mechanism includes vehicle
(102) and the motor (101) for driving wheel (102) to move are taken turns, the hoofing part module (108) includes for driving electricity
The motor drive module of machine (101).
3. cable passage inspection firefighting robot according to claim 1, it is characterised in that: the section of the guide rail (11)
Shape be it is I-shaped, guide rail (11) includes parallel top and bottom, the side wall perpendicular to top surface is equipped between top and bottom,
There are two the wheel (102) and motor (101) are each, two wheels (102) are respectively arranged on the two sides of side wall, motor (101) with
Wheel (102) corresponds.
4. cable passage inspection firefighting robot according to claim 1, it is characterised in that: the end of the mechanical arm (3)
End connection one flange (4), camera (5), infrared 3D imager (6) and nozzle (7) are set on flange (4).
5. cable passage inspection firefighting robot according to claim 4, it is characterised in that: the mechanical arm (3) includes
One end of connecting rod (301), connecting rod (301) connects mechanical arm drive module (104), the other end connection of connecting rod (301)
One end of large arm upper joint (302), one end of other end connection large arm (303) of large arm upper joint (302), large arm (303)
The other end connects the one end of large arm hypozygal (304), and the other end of large arm hypozygal (304) is fixedly connected with forearm upper joint
(305) one end, one end of other end connection forearm (306) of forearm upper joint (305), the other end connection of forearm (306)
One end of forearm hypozygal (307), the other end of forearm hypozygal (307) are fixedly connected with flange (4), wherein connecting rod (301)
With flange (4) can transverse rotation, under large arm upper joint (302), large arm hypozygal (304), forearm upper joint (305) and forearm
Joint (307) can longitudinally rotate.
6. cable passage inspection firefighting robot according to claim 1, it is characterised in that: the central control unit
(105) control method are as follows: right if central control unit (105) receives the data of image processing module (106) transmission
The data that image processing module (106) is sent are handled, and carry out three dimension location to point of origin, then mechanical by control
Arm drive module (104) makes the nozzle (7) on mechanical arm (3) be directed at point of origin, then passes through control valve drive module (110)
So that electromagnetic valve (8) is opened, to put out a fire；If central control unit (105) receives wireless communication module (109)
The data of transmission then move walking mechanism by controlling hoofing part module (108), when image processing module (106) are sent out
It is sending statistics indicate that when arrived point of origin then central control unit (105) by control hoofing part module (108) make
Walking mechanism stop motion.
7. cable passage inspection firefighting robot according to claim 1, it is characterised in that: further include power supply module
(107), the power supply module (107) is used for walking mechanism, hoofing part module (108), central control unit (105), machine
Tool arm (3), mechanical arm drive module (104), electromagnetic valve (8), valve drive module (110), camera (5), infrared 3D at
As instrument (6), image processing module (106) and wireless communication module (109) power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910628163.7A CN110420421A (en) | 2019-07-12 | 2019-07-12 | A kind of cable passage inspection firefighting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910628163.7A CN110420421A (en) | 2019-07-12 | 2019-07-12 | A kind of cable passage inspection firefighting robot |
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| Publication Number | Publication Date |
|---|---|
| CN110420421A true CN110420421A (en) | 2019-11-08 |
Family
ID=68409294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910628163.7A Pending CN110420421A (en) | 2019-07-12 | 2019-07-12 | A kind of cable passage inspection firefighting robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989599A (en) * | 2019-12-09 | 2020-04-10 | 国网智能科技股份有限公司 | Autonomous operation control method and system for fire-fighting robot of transformer substation |
| CN111437545A (en) * | 2020-03-25 | 2020-07-24 | 深圳中电科瑞电力自动化有限公司 | Cable fire extinguishing method, apparatus, device and computer readable storage medium |
| CN111554005A (en) * | 2020-04-27 | 2020-08-18 | 浙江库科自动化科技有限公司 | Intelligent inspection method for railway freight train |
| CN112221046A (en) * | 2020-09-14 | 2021-01-15 | 国网山东省电力公司武城县供电公司 | Cable trench cable fire alarm and automatic fire extinguishing device |
| CN112383685A (en) * | 2020-11-02 | 2021-02-19 | 北京如影智能科技有限公司 | Containing device, control method and control device |
| CN113101584A (en) * | 2021-03-17 | 2021-07-13 | 国网江西省电力有限公司电力科学研究院 | Intelligent fire-fighting robot control method based on three-dimensional point cloud model |
| CN113577617A (en) * | 2021-08-06 | 2021-11-02 | 广东三水合肥工业大学研究院 | A reverse hanging type fire-extinguishing robot for push pipe tunnel |
| CN114279675A (en) * | 2021-12-23 | 2022-04-05 | 太原理工大学 | Intelligent testing device for boiler furnace cold state aerodynamic field test |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989599A (en) * | 2019-12-09 | 2020-04-10 | 国网智能科技股份有限公司 | Autonomous operation control method and system for fire-fighting robot of transformer substation |
| CN110989599B (en) * | 2019-12-09 | 2022-06-24 | 国网智能科技股份有限公司 | Autonomous operation control method and system for fire-fighting robot of transformer substation |
| CN111437545A (en) * | 2020-03-25 | 2020-07-24 | 深圳中电科瑞电力自动化有限公司 | Cable fire extinguishing method, apparatus, device and computer readable storage medium |
| CN111554005A (en) * | 2020-04-27 | 2020-08-18 | 浙江库科自动化科技有限公司 | Intelligent inspection method for railway freight train |
| CN112221046A (en) * | 2020-09-14 | 2021-01-15 | 国网山东省电力公司武城县供电公司 | Cable trench cable fire alarm and automatic fire extinguishing device |
| CN112383685A (en) * | 2020-11-02 | 2021-02-19 | 北京如影智能科技有限公司 | Containing device, control method and control device |
| CN113101584A (en) * | 2021-03-17 | 2021-07-13 | 国网江西省电力有限公司电力科学研究院 | Intelligent fire-fighting robot control method based on three-dimensional point cloud model |
| CN113577617A (en) * | 2021-08-06 | 2021-11-02 | 广东三水合肥工业大学研究院 | A reverse hanging type fire-extinguishing robot for push pipe tunnel |
| CN114279675A (en) * | 2021-12-23 | 2022-04-05 | 太原理工大学 | Intelligent testing device for boiler furnace cold state aerodynamic field test |
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